• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1254-1261
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• 2003

In this paper we present a simple and efficient robust optimal design formulation and its application to a resonant-type micro probe. The basic idea is to use the Gradient Index (GI) to improve robustness of the objective and constraint functions. In the robust optimal design procedure, a deterministic optimization for performance of MEMS structures is followed by design sensitivity analysis with respect to uncertainties such as fabrication errors and change of operating conditions. During the process of deterministic optimization and sensitivity analysis, dominant performance and uncertain variables are identified to define GI. The GI is incorporated as a term of objective and constraint functions in the robust optimal design formulation to make both performance and robustness improved. While most previous approaches for robust optimal design require statistical information on design variations, the proposed GI based method needs no such information and therefore is cost-efficient and easily applicable to early design stages. For the micro probe example, robust optimums are obtained to satisfy the targets for the measurement sensitivity and they are compared in terms of robustness and production yield with the deterministic optimums through the Monte Carlo simulation.

• Journal of information and communication convergence engineering
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• v.6 no.1
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• pp.105-109
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• 2008

A robust optimal control system design algorithm in active suspension equipment adopting linear matrix inequalities control system design theory is presented. The validity of the linear matrix inequalities robust control system design in active suspension system through the numerical examples is also investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.312-316
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• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

• Proceedings of the Korean Statistical Society Conference
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• 2003.10a
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• pp.257-262
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• 2003

We introduce a new robust regression estimator, self-tuning regression estimator. Various robust estimators have been developed with discovery for theories and applications since Huber introduced M-estimator at 1960's. We start by announcing various robust estimators and their properties, including their advantages and disadvantages, and furthermore, new estimator overcomes drawbacks of other robust regression estimators, such as ineffective computation on preserving robustness properties.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.2
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• pp.324-330
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• 2012

In this paper, we presents a robust control system design for compensating hysteresis of a piezoelectric actuator-based actuation unit. First, the dynamics between the input voltage and the output displacement of the actuation unit are unravelled via a non-parametric system identification method. From the dynamic characteristics of those experimental transfer functions, a parametric model is then derived, whose dynamics match those of the non-parametric ones under various conditions on input voltages. A robust controller is constructed on the basis of this parametric model in order not only to effectively compensate the hysteresis of the actuation unit but also to guarantee the robust stability. Extensive experiments show that the proposed robust control system successfully mitigate the effect of the hysteresis and improve the tracking capability of the actuation unit.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.988-991
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• 1996

The purpose of this thesis is to develop methods of designing robust LQR/LQG controllers for time-varying systems with real parametric uncertainties. Controller design that meet desired performance and robust specifications is one of the most important unsolved problems in control engineering. We propose a new framework to solve these problems using Linear Matrix Inequalities (LMls) which have gained much attention in recent years, for their computational tractability and usefulness in control engineering. In Robust LQR case, the formulation of LMI based problem is straightforward and we can say that the obtained solution is the global optimum because the transformed problem is convex. In Robust LQG case, the formulation is difficult because the objective function and constraint are all nonlinear, therefore these are not treatable directly by LMI. We propose a sequential solving method which consist of a block-diagonal approach and a full-block approach. Block-diagonal approach gives a conservative solution and it is used as a initial guess for a full-block approach. In full-block approach two LMIs are solved sequentially in iterative manner. Because this algorithm must be solved iteratively, the obtained solution may not be globally optimal.

• Journal of Mechanical Science and Technology
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• v.15 no.3
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• pp.320-326
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• 2001

A Robust controller is designed for cascaded nonlinear uncertain systems that can be decomposed into two subsystems; that is, a series connection of two nonlinear subsystems, such as a robot manipulator with actuators. For such systems, a recursive design is used to include the second subsystem in the robust control. The recursive design procedure contains two steps. First, a fictitious robust controller for the first subsystem is designed as if the subsystem had an independent control. As the fictitious control, a nonlinear H(sub)$\infty$ control using energy dissipation is designed in the sense of L$_2$-gain attenuation from the disturbance caused by system uncertainties to performance vector. Second, the actual robust control is designed recursively by Lyapunovs second method. The designed robust control is applied to a robotic system with actuators, is which the physical control inputs are not the joint torques, but electrical signals to the actuators.

• Korean Journal of Computational Design and Engineering
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• v.15 no.5
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• pp.325-332
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• 2010

A lens system for mobile phone cameras is comprised of various lenses and designed so as to satisfy design requirements for responses such as a modular transfer function (MTF). However, it is difficult to manufacture and assemble camera modules to maintain the same performance compared with the designed camera modules, because of uncertainty. We should always design a lens system by considering uncertainty that can be caused by errors in the manufacturing and assembly process of mobile phone cameras. The robust optimization offers tools of making robust decisions with the consideration of design parameters, uncontrollable parameters, and the variance of the system. Using an efficient reliability analysis method and an optimization algorithm, we obtained robust optimization results that maximize the mean of MTF and minimize the standard deviation and proposed a new robust design process for a lens system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.9
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• pp.798-809
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• 2013

In this paper, we propose robust relay and destination filter design methods for the multi-user peer-to-peer amplify-and-forward relaying systems while taking imperfect channel knowledge into consideration. Specifically, the relay and destination filter sets are developed to minimize the sum mean-squared-error (MSE). We first present a robust joint optimum relay and destination filter calculation method with an iterative algorithm. Motivated by the need to reduce computational complexity of the iterative scheme, we then formulate a simplified sum MSE minimization problem using the relay filter decomposability, which lead to two robust sub-optimum non-iterative design methods. Finally, we propose robust modified destination filter design methods which require only local channel state information between relay node and a specific destination node. The analysis and simulation results verify that, compared with the optimum iterative method, the proposed non-iterative schemes suffer a marginal loss in performance while enjoying significantly improved implementation efficiencies. Also it is confirmed that the proposed robust filter design methods provide desired robustness in the presence of channel uncertainty.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.12
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• pp.4024-4041
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• 2022

Robust reversible watermarking has attracted widespread attention in the field of information hiding in recent years. It should not only have robustness against attacks in transmission but also meet the reversibility of distortion-free transmission. According to our best knowledge, the most recent robust reversible watermarking methods adopt a single image as the carrier, which might lead to low efficiency in terms of carrier utilization. To address the issue, a novel dual-image robust reversible watermarking framework is proposed in this paper to effectively utilize the correlation between both carriers (namely dual images) and thus improve the efficiency of carrier utilization. In the dual-image robust reversible watermarking framework, a two-layer robust watermarking mechanism is designed to further improve the algorithm performances, i.e., embedding capacity and robustness. In addition, an optimization model is built to determine the parameters. Finally, the proposed framework is applied in different domains (namely domain-independent), i.e., Slantlet Transform and Singular Value Decomposition domain, and Zernike moments, respectively to demonstrate its effectiveness and generality. Experimental results demonstrate the superiority of the proposed dual-image robust reversible watermarking framework.